Adaptive fuzzy sliding mode control of a robotic manipulator in task-space using voltage control strategy

Authors

Professor of Control Eng., Univ. of Shahrood, Shahrood, Iran

Abstract

Actuators of robot operate in the joint-space while the end-effector of robot is controlled in the task-space. Therefore, designing a control system for a robotic manipulator in the task-space requires the jacobian matrix for transforming joint-space to task-space. Using an imprecise Jacobian matrix and the presence of uncertainties degrade the control performance. Uncertainties include the parametric uncertainty, unmodelled dynamics and external disturbance. In this paper, a novel decentralized adaptive fuzzy sliding mode control approach in the task-space is presented using the voltage control strategy. The control design is simple, free from model and robust agains uncertainties. These advantages are because of using voltage control strategy instead of commonly used torque control strategy. The case study is an articulated robot manipulator driven by permanent magnet DC motors. The stability analysis, simulation results and comparison with a torque based control method are presented to verify the effectiveness of the control method. Simulation results show the effectiveness of proposed control method.

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Main Subjects

References

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Journal of Solid and Fluid Mechanics
Volume 5, Issue 3 - Serial Number 3
September and October 2015
Pages 17-26

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